Extended Kalman Filter Project Starter Code

Self-Driving Car Engineer Nanodegree Program

Dependencies

• cmake >= 3.5
  • All OSes: click here for installation instructions
• make >= 4.1
  • Linux: make is installed by default on most Linux distros
  • Mac: install Xcode command line tools to get make
  • Windows: Click here for installation instructions
• gcc/g++ >= 5.4
  • Linux: gcc / g++ is installed by default on most Linux distros
  • Mac: same deal as make - install Xcode command line tools
  • Windows: recommend using MinGW

Basic Build Instructions

1. Clone this repo.
2. Make a build directory: mkdir build && cd build
3. Compile: cmake .. && make
   • On windows, you may need to run: cmake .. -G "Unix Makefiles" && make
4. Run it: ./ExtendedKF path/to/input.txt path/to/output.txt. You can find
   some sample inputs in ‘data/‘.
   • eg. ./ExtendedKF ../data/obj_pose-laser-radar-synthetic-input.txt

Editor Settings

We’ve purposefully kept editor configuration files out of this repo in order to
keep it as simple and environment agnostic as possible. However, we recommend
using the following settings:

• indent using spaces
• set tab width to 2 spaces (keeps the matrices in source code aligned)

Code Style

Please (do your best to) stick to Google’s C++ style guide.

Generating Additional Data

This is optional!

If you’d like to generate your own radar and lidar data, see the
utilities repo for
Matlab scripts that can generate additional data.

Project Instructions and Rubric

Note: regardless of the changes you make, your project must be buildable using
cmake and make!

More information is only accessible by people who are already enrolled in Term 2
of CarND. If you are enrolled, see the project resources page
for instructions and the project rubric.

Hints!

• You don’t have to follow this directory structure, but if you do, your work
  will span all of the .cpp files here. Keep an eye out for TODOs.

Call for IDE Profiles Pull Requests

Help your fellow students!

We decided to create Makefiles with cmake to keep this project as platform
agnostic as possible. Similarly, we omitted IDE profiles in order to we ensure
that students don’t feel pressured to use one IDE or another.

However! We’d love to help people get up and running with their IDEs of choice.
If you’ve created a profile for an IDE that you think other students would
appreciate, we’d love to have you add the requisite profile files and
instructions to ide_profiles/. For example if you wanted to add a VS Code
profile, you’d add:

• /ide_profiles/vscode/.vscode
• /ide_profiles/vscode/README.md

The README should explain what the profile does, how to take advantage of it,
and how to install it.

Regardless of the IDE used, every submitted project must
still be compilable with cmake and make.